A modular approach to MRI-compatible robotics: using robotic modules with interconnectable 1-DoF stages

Article

Elhawary, H., Zivanovic, A., Rea, M., Davies, B., Besant, C., McRobbie, D., Desouza, N., Young, I. and Lamperth, M. 2008. A modular approach to MRI-compatible robotics: using robotic modules with interconnectable 1-DoF stages. Engineering in Medicine and Biology Magazine. 27 (3), pp. 35 -41. https://doi.org/10.1109/EMB.2007.910260
TypeArticle
TitleA modular approach to MRI-compatible robotics: using robotic modules with interconnectable 1-DoF stages
AuthorsElhawary, H., Zivanovic, A., Rea, M., Davies, B., Besant, C., McRobbie, D., Desouza, N., Young, I. and Lamperth, M.
Abstract

The objective of the research described in this article is to create individual MR-compatible modules consisting of 1-DoF stages complete with actuators and position encoders for implementation of the closed-loop position control. These modules can connect together to form multi-DoF assemblies that can be located inside the scanner bore near to the patient anatomy that requires the intervention. This avoids the problems associated with remote actuation and transmission mechanisms, considerably reducing the size of the manipulator. As most robots consist of kinematic chains of 1-DoF stages, these modules would be suitable for a wide range of interventions, and their design can be optimized for the procedure for which they are applied to.

Keywords1-DoF stages; MR-compatible manipulator; MRI-compatible robotics; actuator system; closed-loop position control; computer-assisted intervention; multiDoF assemblies; piezoceramic motor; position encoders; robotic modular approach; actuators; biomedical MRI; closed loop systems; manipulator kinematics; medical robotics; position control; surgery; Equipment Design; Equipment Failure Analysis; Image Enhancement; Magnetic Resonance Imaging, Interventional; Robotics; Surgery, Computer-Assisted; Systems Integration
PublisherIEEE
JournalEngineering in Medicine and Biology Magazine
ISSN0739-5175
Publication dates
PrintMay 2008
Publication process dates
Deposited11 Jul 2011
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1109/EMB.2007.910260
LanguageEnglish
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